相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS
本申请基于申请号为“202311306760.0”的申请日为2023年10月09日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此以引入方式并入本申请。This application is based on the Chinese patent application with application number "202311306760.0" and application date of October 9, 2023, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated into this application by introduction.
本申请属于医疗器械技术领域，特别涉及一种持械臂机构、多轴运动装置以及手术机器人。The present application belongs to the technical field of medical devices, and in particular relates to a robotic arm mechanism, a multi-axis motion device, and a surgical robot.
目前，手术机器人具有定位准确、运行稳定、灵巧性强、工作范围大、不怕辐射和感染等优点，被广泛的应用于各种手术中。At present, surgical robots have the advantages of accurate positioning, stable operation, strong dexterity, large working range, and no fear of radiation and infection. They are widely used in various surgeries.
在相关技术中，手术机器人包括多轴运动装置，多轴运动装置包括若干机械手，机械手的末端可以达到多自由度的活动。而机械手的末端安装有持械臂机构，用于带动器械驱动器沿设定方向移动。但传统的持械臂机构在装配的过程中，零件较多，且装配工序不合理，容易存在误差积累，导致持械臂机构的装配误差较大，校准难度大。In the related art, the surgical robot includes a multi-axis motion device, which includes several manipulators, and the ends of the manipulators can achieve multi-degree-of-freedom movements. A robotic arm mechanism is installed at the end of the manipulator to drive the instrument driver to move along a set direction. However, during the assembly process of the traditional robotic arm mechanism, there are many parts and the assembly process is unreasonable, which is prone to error accumulation, resulting in large assembly errors of the robotic arm mechanism and difficulty in calibration.
发明内容Summary of the invention
本申请的目的在于提供一种持械臂机构、多轴运动装置以及手术机器人，该持械臂机构的装配误差小，易于进行校准。进而能够提高多轴运动装置的运动精度，提高手术机器人的手术操作精度。The purpose of the present application is to provide a mechanical arm mechanism, a multi-axis motion device and a surgical robot, wherein the mechanical arm mechanism has a small assembly error and is easy to calibrate, thereby improving the motion accuracy of the multi-axis motion device and the surgical operation accuracy of the surgical robot.
为解决上述技术问题，本申请的第一方面提供了一种持械臂机构，包括：In order to solve the above technical problems, the first aspect of the present application provides a mechanical arm mechanism, comprising:
臂主体、驱动部件、丝杆、第一连接件以及第二连接件。臂主体设有沿第一方向贯穿臂主体的两端的第一腔，臂主体设有通槽，通槽使得第一腔与臂主体的外部连通，通槽沿第一方向延伸，并具有沿第一方向的相对设置的第一端和第二端，臂主体包括设置于第一腔内的第一配合面。驱动部件固定于臂主体的一端。至少部分丝杆在第一腔内延伸，丝杆与驱动部件连接并受驱动部件驱动旋转，丝杆的旋转轴线平行于第一方向。第一连接件位于第一腔内，第一连接件与丝杆螺纹传动配合，并可在丝杆的驱动下沿丝杆的轴向往复移动，第一连接件的表面设有第二配合面。第二连接件用于安装器械驱动器，第二连接件的部分位于臂主体的外部，第二连接件的部分穿过所述通槽，并与第一连接件固定连接。第一连接件和第二连接件共同地能够在第一端和第二端之间往复运动。第一配合面与第二配合面相配合，以限制第一连接件以丝杆的旋转轴线为转轴旋转。第二连接件与臂主体无接触。An arm body, a driving component, a screw, a first connecting piece and a second connecting piece. The arm body is provided with a first cavity that passes through both ends of the arm body along a first direction, and the arm body is provided with a through slot that connects the first cavity with the outside of the arm body. The through slot extends along the first direction and has a first end and a second end that are relatively arranged along the first direction. The arm body includes a first mating surface arranged in the first cavity. The driving component is fixed to one end of the arm body. At least part of the screw extends in the first cavity, the screw is connected to the driving component and is driven to rotate by the driving component, and the rotation axis of the screw is parallel to the first direction. The first connecting piece is located in the first cavity, the first connecting piece is threadedly matched with the screw, and can reciprocate along the axial direction of the screw under the drive of the screw, and a second mating surface is provided on the surface of the first connecting piece. The second connecting piece is used to install the instrument driver, and part of the second connecting piece is located outside the arm body, and part of the second connecting piece passes through the through slot and is mated with the first connecting piece. The first connecting member and the second connecting member are fixedly connected. The first connecting member and the second connecting member can reciprocate between the first end and the second end together. The first mating surface cooperates with the second mating surface to limit the first connecting member from rotating about the rotation axis of the screw rod. The second connecting member has no contact with the arm body.
本申请的持械臂机构包括以下有益效果：The mechanical arm mechanism of the present application includes the following beneficial effects:
该持械臂机构组装的过程中，将驱动部件安设固定于臂主体的一端。而丝杆与第一连接件组装后，再一起组装于臂主体上。此过程中，丝杆以及第一连接件从臂主体的另一端插入第一腔内，使得第一配合面与第二配合面相配合，以限制第一连接件以丝杆的旋转轴线旋转，进而通过丝杆能够带动第一连接件沿丝杆的轴向往复移动。完成第一连接件的安装后，调整丝杆的安装位置，使得丝杆的旋转轴线平行于第一方向，并使得丝杆与驱动部件连接。最后，第二连接件的部分穿过通槽与第一连接件固定连接，以使第二连接件的部分设置于臂主体的外部，便于与器械驱动器进行组装。如此，该持械臂机构通过设置第一连接件实现与臂主体的滑动连接以及丝杆的螺纹传动配合，减少装配零件，进而能够减少装配误差。而且，丝杆与第一连接件组装后，再一起组装于臂主体上，能够有效减少误差积累，使得丝杆的旋转轴线与第一方向的平行度误差小，易于校准。同时，第二连接件安装后，与臂主体无接触，进而不会影响第一连接件和丝杆与臂主体之间的传动精度，有利于提高持械臂机构的传动精度。During the assembly process of the arm-holding mechanism, the driving component is fixedly installed at one end of the arm body. After the screw rod is assembled with the first connecting piece, they are assembled together on the arm body. During this process, the screw rod and the first connecting piece are inserted into the first cavity from the other end of the arm body, so that the first mating surface matches the second mating surface to limit the first connecting piece to rotate about the rotation axis of the screw rod, and then the screw rod can drive the first connecting piece to reciprocate along the axial direction of the screw rod. After the installation of the first connecting piece is completed, the installation position of the screw rod is adjusted so that the rotation axis of the screw rod is parallel to the first direction, and the screw rod is connected to the driving component. Finally, part of the second connecting piece is fixedly connected to the first connecting piece through the through groove, so that part of the second connecting piece is arranged on the outside of the arm body, which is convenient for assembly with the instrument driver. In this way, the arm-holding mechanism realizes the sliding connection with the arm body and the threaded transmission cooperation of the screw rod by setting the first connecting piece, reduces the assembly parts, and thus can reduce the assembly error. Moreover, after the screw rod is assembled with the first connecting piece, it is assembled together with the arm body, which can effectively reduce the error accumulation, so that the parallelism error between the rotation axis of the screw rod and the first direction is small, and it is easy to calibrate. At the same time, after the second connecting piece is installed, it has no contact with the arm body, and thus will not affect the transmission accuracy between the first connecting piece and the screw rod and the arm body, which is conducive to improving the transmission accuracy of the mechanical arm mechanism.
本申请的第二方面提供了一种多轴运动装置，包括：机械手、器械驱动器以及上述的持械臂机构，持械臂机构安设于机械手的末端，器械驱动器与第二连接件连接。The second aspect of the present application provides a multi-axis motion device, including: a manipulator, an instrument driver and the above-mentioned arm holding mechanism, the arm holding mechanism is installed at the end of the manipulator, and the instrument driver is connected to the second connecting member.
本申请的多轴运动装置包括以下有益效果：The multi-axis motion device of the present application has the following beneficial effects:
该多轴运动装置应用了上述的持械臂机构，而该持械臂机构的传动精度好，能够带动器械驱动器沿第一方向顺畅移动，使得该多轴运动装置的运动精度高，运行稳定性好。The multi-axis motion device applies the above-mentioned arm mechanism, and the arm mechanism has good transmission accuracy and can drive the instrument driver to move smoothly along the first direction, so that the multi-axis motion device has high motion accuracy and good operation stability.
本申请的第三方面提供了一种手术机器人，包括上述实施例中的多轴运动装置。A third aspect of the present application provides a surgical robot comprising the multi-axis motion device in the above-mentioned embodiment.
本申请的手术机器人包括以下有益效果：The surgical robot of the present application has the following beneficial effects:
该手术机器人应用了上述的多轴运动装置，而该该多轴运动装置的运动精度高，运行稳定性好，有利于提高手术机器人的手术操作精度。The surgical robot applies the above-mentioned multi-axis motion device, and the multi-axis motion device has high motion accuracy and good operation stability, which is beneficial to improving the surgical operation accuracy of the surgical robot.
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单的介绍，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
图1是本申请一实施例中所示的手术机器人的结构示意图；FIG1 is a schematic diagram of the structure of a surgical robot shown in an embodiment of the present application;
图2是图1所示的多轴运动装置的结构示意图；FIG2 is a schematic structural diagram of the multi-axis motion device shown in FIG1 ;
图3是图2所示的持械臂机构的结构爆炸示意图；FIG3 is an exploded schematic diagram of the structure of the robotic arm mechanism shown in FIG2 ;
图4是图3所示的持械臂机构的组装示意图；FIG4 is a schematic diagram of the assembly of the mechanical arm mechanism shown in FIG3 ;
图5是本申请另一实施例所示的持械臂机构的局部结构示意图；FIG5 is a schematic diagram of a partial structure of a robotic arm mechanism according to another embodiment of the present application;
图6是图4所示的持械臂机构沿第三方向剖切的半剖示意图；FIG6 is a half-section schematic diagram of the mechanical arm mechanism shown in FIG4 cut along a third direction;
图7是图5所示的持械臂机构沿第三方向剖切的半剖示意图；FIG7 is a half-section schematic diagram of the mechanical arm mechanism shown in FIG5 cut along a third direction;
图8是图4所示的持械臂机构沿第一方向剖切的局部结构示意图；FIG8 is a schematic diagram of a partial structure of the robotic arm mechanism shown in FIG4 cut along a first direction;
图9是图4所示的持械臂机构的走线带在走线区的走线运动示意图；FIG9 is a schematic diagram of the routing movement of the routing belt of the robotic arm mechanism shown in FIG4 in the routing area;
图10是本申请另一实施例所示的持械臂机构的结构爆炸示意图。FIG. 10 is a schematic exploded view of the structure of a robotic arm mechanism according to another embodiment of the present application.
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合附图对本申请的各实施例进行详细的阐述。然而，本领域的普通技术人员可以理解，在本申请各实施例中，为了使读者更好地理解本申请而提出了许多技术细节。但是，即使没有这些技术细节和基于以下各实施例的种种变化和修改，也可以实现本申请所要求保护的技术方案。In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present application, many technical details are provided in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented.
在本申请实施例中，术语“上”、“下”、“左”、“右”、“前”、“后”、“顶”、“底”、“内”、“外”、“中”、“竖直”、“水平”、“横向”、“纵向”等指示方位或位置关系为基于附图所示的方位或位置关系。这些术语主要是为了更好地描述本申请及其实施例，并非用于限定所指示的装置、元件或组成部分必须具有特定方位，或以特定方位进行构造和操作。In the embodiments of the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.
并且，上述部分术语除了可以用于表示方位或位置关系以外，还可能用于表示其他含义，例如术语“上”在某些情况下也可能用于表示某种依附关系或连接关系。对于本领域普通技术人员而言，可以根据具体情况理解这些术语在本申请中的具体含义。In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.
此外，术语“安装”、“设置”、“设有”、“开设”、“连接”、“相连”应做广义理解。例如，可以是固定连接，可拆卸连接，或整体式构造；可以是机械连接，或电连接；可以是直接相连，或者是通过中间媒介间接相连，又或者是两个装置、元件或组成部分之间内部的连通。对于本领域普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。In addition, the terms "installed", "set", "provided with", "opened", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements that are inherent to such process, method, article or device. Elements. In the absence of more restrictions, elements defined by the phrase "comprising..." do not exclude the existence of other identical elements in the process, method, article or apparatus comprising the elements.
需要说明的是，本申请“间隔设置”应做广义理解，包括间隔设置、跨距设置等等。It should be noted that the "interval setting" in this application should be understood in a broad sense, including interval setting, span setting, etc.
当元件与另一个元件相互垂直或近似垂直是指二者的理想状态是垂直，但是因制造及装配的影响，可以存在一定的垂直误差。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。When an element is perpendicular or approximately perpendicular to another element, the ideal state of the two elements is perpendicular, but due to the influence of manufacturing and assembly, there may be a certain vertical error. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.
如图1以及图2所示，提供一种手术机器人1，包括多轴运动装置10，能够带动手术器械进行运动，以实现相应的手术动作。具体的，手术机器人1还包括控制装置20以及成像装置30，控制装置20与成像装置30以及多轴运动装置10通信连接。如此，便于医生通过控制装置20控制多轴运动装置10进行运动，以进行对应手术器械的动作。此过程中，医生可以通过成像装置30进行手术观察。As shown in FIG. 1 and FIG. 2 , a surgical robot 1 is provided, including a multi-axis motion device 10, which can drive the surgical instrument to move to achieve corresponding surgical actions. Specifically, the surgical robot 1 also includes a control device 20 and an imaging device 30, and the control device 20 is communicatively connected with the imaging device 30 and the multi-axis motion device 10. In this way, it is convenient for the doctor to control the multi-axis motion device 10 to move through the control device 20 to perform the corresponding surgical instrument action. During this process, the doctor can observe the operation through the imaging device 30.
可选地，一些实施例中，控制装置20包括具有展示手术器械环境的显示单元以及供医生操作的控制机构等。其中，显示单元上开设有观察窗，方便医生观察。医生通过操作控制机构控制多轴运动装置10进行运动，以完成对应手术器械的动作。Optionally, in some embodiments, the control device 20 includes a display unit for displaying the surgical instrument environment and a control mechanism for the doctor to operate. The display unit is provided with an observation window for the doctor to observe. The doctor controls the multi-axis motion device 10 to move by operating the control mechanism to complete the corresponding action of the surgical instrument.
可选地，一些实施例中，控制装置20还具有其他方便手或脚触碰或按压的控制开关，用来进行各种功能操作，完成人机交互。Optionally, in some embodiments, the control device 20 also has other control switches that are convenient for hands or feet to touch or press, so as to perform various functional operations and complete human-computer interaction.
可选地，一些实施例中，成像装置30包括显示屏幕、内窥镜控制器、系统电子设备、图像处理器等中的至少一种。Optionally, in some embodiments, the imaging device 30 includes at least one of a display screen, an endoscope controller, system electronics, an image processor, and the like.
如图2所示，在一些实施例中，该多轴运动装置10包括机械手11以及器械驱动器12，机械手11具有依次连接的至少两个关节臂11a，相邻的两关节臂11a以特定的自由度相对活动，使得机械手11的末端可以达到多自由度的活动。器械驱动器12安设于机械手11的末端，以驱动手术器械实现夹握、偏转、俯仰等操作。As shown in FIG2 , in some embodiments, the multi-axis motion device 10 includes a manipulator 11 and an instrument driver 12. The manipulator 11 has at least two articulated arms 11a connected in sequence, and two adjacent articulated arms 11a move relative to each other with a specific degree of freedom, so that the end of the manipulator 11 can achieve multi-degree-of-freedom movement. The instrument driver 12 is installed at the end of the manipulator 11 to drive the surgical instrument to achieve operations such as gripping, deflection, and pitching.
如图2所示，在一些实施例中，多轴运动装置10还包括安设于机械手11的末端的持械臂机构13，持械臂机构13与器械驱动器12连接，以带动器械驱动器12沿第一方向运动(也即，图2所示的X轴方向)。如此，方便操作者通过持械臂机构13调整器械驱动器12相对于机械手11的位置，以更好地进行手术操作，实现多自由度。As shown in FIG2 , in some embodiments, the multi-axis motion device 10 further includes a mechanical arm mechanism 13 mounted at the end of the manipulator 11, and the mechanical arm mechanism 13 is connected to the instrument driver 12 to drive the instrument driver 12 to move along a first direction (i.e., the X-axis direction shown in FIG2 ). In this way, it is convenient for the operator to adjust the position of the instrument driver 12 relative to the manipulator 11 through the mechanical arm mechanism 13 to better perform surgical operations and achieve multiple degrees of freedom.
而器械驱动器12沿第一方向移动的移动精度以及顺畅性会影响多轴运动装置10的运动精度以及手术机器人1的手术操作精度。The movement accuracy and smoothness of the instrument driver 12 moving along the first direction will affect the movement accuracy of the multi-axis motion device 10 and the surgical operation accuracy of the surgical robot 1 .
传统的持械臂机构在装配的过程中，零件较多，容易存在误差积累，导致持械臂机构的装配公差较大，校准难度大。例如，传统的持械臂机构在组装时，滑块与臂主体之间，以及丝杆与臂主体之间独立进行组装，然后进行调试，导致丝杆轴向与滑块的滑动方向的平行度难以调试，难以提高其持械臂机构驱动器械驱动器沿设定方向移动的移动精度。甚至，由于滑块与丝杆的平行度误差较大，导致丝杆容易发生卡滞而影响器械驱动器沿设定方向移动的顺畅性。In the process of assembling the traditional arm mechanism, there are many parts, which is prone to error accumulation, resulting in large assembly tolerances and difficult calibration. For example, when assembling the traditional arm mechanism, the slider and the arm body, as well as the lead screw and the arm body, are assembled independently and then debugged, resulting in the sliding of the lead screw axial direction and the slider. The parallelism of the direction is difficult to adjust, and it is difficult to improve the movement accuracy of the mechanical arm mechanism driving the instrument driver to move along the set direction. In fact, due to the large parallelism error between the slider and the lead screw, the lead screw is prone to jamming, which affects the smoothness of the instrument driver moving along the set direction.
基于此，结合图3至图6所示，本申请提供的一些实施例中，持械臂机构13包括臂主体100、驱动部件200、丝杆300、第一连接件400以及用于安装器械驱动器12的第二连接件500。臂主体100用作承载结构，臂主体100设有沿第一方向贯穿臂主体100的两端的第一腔110，臂主体100设有通槽120，通槽120使得第一腔110与臂主体100的外部连通，通槽120沿第一方向延伸，并具有沿第一方向的相对设置的第一端和第二端，臂主体100包括设置于第一腔110内的第一配合面130。便于利用第一腔110来防护丝杆300以及第一连接件400，避免灰尘等固态杂物污染丝杆300以及第一连接件400，降低丝杆300与第一连接件400使用寿命。而通槽120的设置又不会影响第二连接件500与第一连接件400的连接，便于将器械驱动器12安装于第二连接件500上。Based on this, in combination with FIGS. 3 to 6 , in some embodiments provided by the present application, the arm mechanism 13 includes an arm body 100, a driving component 200, a screw rod 300, a first connecting piece 400, and a second connecting piece 500 for installing the instrument driver 12. The arm body 100 is used as a bearing structure. The arm body 100 is provided with a first cavity 110 that runs through both ends of the arm body 100 along a first direction. The arm body 100 is provided with a through slot 120. The through slot 120 makes the first cavity 110 communicate with the outside of the arm body 100. The through slot 120 extends along the first direction and has a first end and a second end that are oppositely arranged along the first direction. The arm body 100 includes a first mating surface 130 arranged in the first cavity 110. It is convenient to use the first cavity 110 to protect the screw rod 300 and the first connecting piece 400, prevent dust and other solid debris from contaminating the screw rod 300 and the first connecting piece 400, and reduce the service life of the screw rod 300 and the first connecting piece 400. The provision of the through slot 120 will not affect the connection between the second connecting member 500 and the first connecting member 400 , and thus it is convenient to install the instrument driver 12 on the second connecting member 500 .
而驱动部件200固定于臂主体100的一端。至少部分丝杆300在第一腔110内延伸，丝杆300与驱动部件200连接并受驱动部件200驱动旋转，丝杆300的旋转轴线平行于第一方向。第一连接件400位于第一腔110内，第一连接件400与丝杆300螺纹传动配合(此处螺纹传动配合可以是直接螺纹传动配合，也可以是滚珠传动螺纹传动配合)，并可在丝杆300的驱动下沿丝杆300的轴向往复移动，第一连接件400的表面设有第二配合面410。第二连接件500用于安装器械驱动器12，第二连接件500的部分位于臂主体100的外部，第二连接件500的部分穿过通槽120，并与第一连接件400固定连接。第一连接件400和第二连接件500共同地能够在第一端和第二端之间往复运动。第一配合面130与第二配合面410相配合，以限制第一连接件400以丝杆300的旋转轴线为转轴旋转。如此，该持械臂机构13组装的过程中，将驱动部件200安设固定于臂主体100的一端。而丝杆300与第一连接件400组装后，再一起组装于臂主体100上。此过程中，丝杆300以及第一连接件400从臂主体100的另一端插入第一腔110内，使得第一配合面130与第二配合面410相配合，以限制第一连接件400以丝杆300的旋转轴线为转轴旋转，进而通过丝杆300能够带动第一连接件400沿丝杆300的轴向往复移动。完成第一连接件400的安装后，调整丝杆300的安装位置，使得丝杆300的旋转轴线平行于第一方向，并使得丝杆300与驱动部件200连接。最后，第二连接件500的部分穿过通槽120与第一连接件400固定连接，以使第二连接件500的部分设置于臂主体100的外部，便于与器械驱动器12进行组装。The driving component 200 is fixed to one end of the arm body 100. At least part of the screw rod 300 extends in the first cavity 110, the screw rod 300 is connected to the driving component 200 and driven to rotate by the driving component 200, and the rotation axis of the screw rod 300 is parallel to the first direction. The first connecting member 400 is located in the first cavity 110, and the first connecting member 400 and the screw rod 300 are threadedly matched (here the threaded matching can be a direct threaded matching or a ball transmission threaded matching), and can reciprocate along the axial direction of the screw rod 300 under the drive of the screw rod 300, and the surface of the first connecting member 400 is provided with a second matching surface 410. The second connecting member 500 is used to install the instrument driver 12, and part of the second connecting member 500 is located outside the arm body 100, and part of the second connecting member 500 passes through the through slot 120 and is fixedly connected to the first connecting member 400. The first connecting member 400 and the second connecting member 500 can reciprocate between the first end and the second end together. The first mating surface 130 and the second mating surface 410 are matched to limit the first connecting member 400 to rotate with the rotation axis of the screw rod 300 as the rotation axis. In this way, during the assembly process of the arm mechanism 13, the driving component 200 is installed and fixed on one end of the arm body 100. After the screw rod 300 and the first connecting member 400 are assembled, they are assembled together on the arm body 100. In this process, the screw rod 300 and the first connecting member 400 are inserted into the first cavity 110 from the other end of the arm body 100, so that the first mating surface 130 and the second mating surface 410 are matched to limit the first connecting member 400 to rotate with the rotation axis of the screw rod 300 as the rotation axis, and then the screw rod 300 can drive the first connecting member 400 to reciprocate along the axial direction of the screw rod 300. After the installation of the first connecting member 400 is completed, the installation position of the screw rod 300 is adjusted so that the rotation axis of the screw rod 300 is parallel to the first direction, and the screw rod 300 is connected to the driving component 200. Finally, part of the second connecting member 500 passes through the through slot 120 and is fixedly connected to the first connecting member 400 , so that part of the second connecting member 500 is disposed outside the arm body 100 , which is convenient for assembly with the instrument driver 12 .
换而言之，该持械臂机构13通过设置第一连接件400实现与臂主体100的滑动连接以及丝杆300的螺纹传动配合，减少装配零件，进而能够减少装配误差。而且，丝杆300与第一连接件400组装后，再一起组装于臂主体100上，能够有效减少误差积累，使得丝杆300的旋转轴线与第一方向的平行度误差小，易于校准。同时，第二连接件500安装后，与臂主体100无接触，进而不会影响第一连接件400和丝杆300与臂主体100之间的传动精度，有利于提高持械臂机构13的传动精度。In other words, the arm mechanism 13 is connected to the arm body 100 by sliding by providing the first connecting member 400. The threaded transmission of the screw rod 300 is matched to reduce the number of assembly parts, thereby reducing assembly errors. Moreover, after the screw rod 300 is assembled with the first connecting member 400, they are assembled together on the arm body 100, which can effectively reduce error accumulation, so that the parallelism error between the rotation axis of the screw rod 300 and the first direction is small, and it is easy to calibrate. At the same time, after the second connecting member 500 is installed, it has no contact with the arm body 100, and thus will not affect the transmission accuracy between the first connecting member 400 and the screw rod 300 and the arm body 100, which is conducive to improving the transmission accuracy of the mechanical arm mechanism 13.
可以理解地，驱动器件从臂主体100的一端安装于臂主体100上，而第一连接件400与丝杆300从臂主体100的另一端安装于臂主体100上，组装方便。而且便于在调整第一连接件400与臂主体100的装配位置时，同时校准丝杆300与第一连接件400以及臂主体100之间的位置关系，易于进行校准，使得丝杆300的旋转不会发生卡滞，且丝杆300的旋转轴线与第一方向的平行度误差小。It can be understood that the driving device is installed on the arm body 100 from one end of the arm body 100, and the first connecting member 400 and the lead screw 300 are installed on the arm body 100 from the other end of the arm body 100, which is convenient for assembly. It is also convenient to calibrate the positional relationship between the lead screw 300, the first connecting member 400 and the arm body 100 when adjusting the assembly position of the first connecting member 400 and the arm body 100, and it is easy to calibrate, so that the rotation of the lead screw 300 will not be stuck, and the parallelism error between the rotation axis of the lead screw 300 and the first direction is small.
第二连接件500的具体结构可以有多种。例如，如图6或图7所示，一些实施例中，第二连接件500包括第一连接体510以及第二连接体520，第一连接体510用于安装器械驱动器12，第一连接体510的至少部分位于臂主体100的外部，第二连接体520的一端位于第一腔110内并与第一连接件400固定连接，第二连接体520的另一端与第一连接体510固定连接。如此，通过第一连接体510与第二连接体520配合，便于通过第一连接体510来安装器械驱动器12，而利用第二连接体520与第一连接件400的固定连接，实现第一连接件400带动器械驱动器12沿第一方向进行运动。The specific structure of the second connector 500 can be various. For example, as shown in FIG6 or FIG7, in some embodiments, the second connector 500 includes a first connector 510 and a second connector 520, the first connector 510 is used to install the instrument driver 12, at least part of the first connector 510 is located outside the arm body 100, one end of the second connector 520 is located in the first cavity 110 and is fixedly connected to the first connector 400, and the other end of the second connector 520 is fixedly connected to the first connector 510. In this way, by cooperating with the first connector 510 and the second connector 520, it is convenient to install the instrument driver 12 through the first connector 510, and by utilizing the fixed connection between the second connector 520 and the first connector 400, the first connector 400 drives the instrument driver 12 to move along the first direction.
可选地，一些实施例中，第一连接体510与第二连接体520设置为一体式结构。如此，第一连接体510与第二连接体520一体成型得到第二连接件500，可以减少装配工序，提高持械臂机构13的组装效率。Optionally, in some embodiments, the first connector 510 and the second connector 520 are configured as an integrated structure. In this way, the first connector 510 and the second connector 520 are integrally formed to obtain the second connector 500, which can reduce the assembly process and improve the assembly efficiency of the robotic arm mechanism 13.
可选地，一些实施例中，第一连接体510与第二连接体520设置为分体式结构。如此，第一连接体510以及第二连接体520分别制造，然后再组装成第二连接件500，有利于降低第二连接件500的制造难度。Optionally, in some embodiments, the first connector 510 and the second connector 520 are configured as split structures. In this way, the first connector 510 and the second connector 520 are manufactured separately and then assembled into the second connector 500, which is conducive to reducing the manufacturing difficulty of the second connector 500.
参照图10，为第一连接体510和第二连接体520分体式结构的一个实施例。图10中，第二连接体520设置为异形结构(例如呈L形状或倒T字形状)，第二连接体520与第一连接件400先通过螺钉固定，再将第一连接体510与第二连接体520固定于一起。Referring to Fig. 10, an embodiment of a split structure of the first connector 510 and the second connector 520 is shown. In Fig. 10, the second connector 520 is configured as a special-shaped structure (e.g., an L-shape or an inverted T-shape), the second connector 520 and the first connector 400 are first fixed by screws, and then the first connector 510 and the second connector 520 are fixed together.
可选地，参照图10所示，第二连接体520包括与第一连接件400连接的第一本体(未标注)以及与第一连接体510连接的第二本体(未标注)。第二本体的至少部分凸设于第一本体上。10 , the second connecting body 520 includes a first body (not labeled) connected to the first connecting member 400 and a second body (not labeled) connected to the first connecting body 510. At least part of the second body is protruding from the first body.
如图6或图7所示，一些实施例中，第二连接体520穿设于通槽120。第二连接体520的另一端位于臂主体100外部并与第一连接体510固定连接，以使第一连接体510悬空设置于臂主体100的外部。如此，第一连接体510与臂主体100之间具有避让间隙，能够避让器械驱动器12的部分结构，使得器械驱动器12的安装不会与臂主体100发生干涉，保持第一连接件400移动的顺畅性。As shown in FIG. 6 or FIG. 7 , in some embodiments, the second connector 520 is disposed in the through slot 120. The other end of the second connector 520 is located outside the arm body 100 and is fixedly connected to the first connector 510 so that the first connector 510 It is suspended outside the arm body 100. In this way, there is an avoidance gap between the first connector 510 and the arm body 100, which can avoid part of the structure of the instrument driver 12, so that the installation of the instrument driver 12 will not interfere with the arm body 100, and the smooth movement of the first connector 400 is maintained.
需要说明的是，在本申请中第一方向、第二方向以及第三方向两两相互垂直。为了说明的清楚以及简要，在本申请的附图中的第一方向为X轴方向，第二方向为Y轴方向，第三方向为Z轴方向。具体地，以臂主体100为例，X轴方向与臂主体100的长度方向同向，Y轴方向与臂主体100的厚度方向同向，Z轴方向与臂主体100的宽度方向同向。It should be noted that in the present application, the first direction, the second direction and the third direction are perpendicular to each other. For the sake of clarity and simplicity, the first direction in the drawings of the present application is the X-axis direction, the second direction is the Y-axis direction, and the third direction is the Z-axis direction. Specifically, taking the arm body 100 as an example, the X-axis direction is in the same direction as the length direction of the arm body 100, the Y-axis direction is in the same direction as the thickness direction of the arm body 100, and the Z-axis direction is in the same direction as the width direction of the arm body 100.
如图6或图7所示，一些实施例中，第二连接体520呈块状，并沿垂直于第一方向的第二方向穿过通槽120，第一连接体510和第二连接体520沿第二方向由远及近地安装于第一连接件400。如此，第二连接体520与第一连接件400组装时，只需沿Y轴方向穿过通槽120，插入第一腔110内，即可与第一腔110内的第一连接件400进行安装，操作简单。As shown in FIG. 6 or FIG. 7, in some embodiments, the second connector 520 is block-shaped and passes through the through slot 120 along a second direction perpendicular to the first direction, and the first connector 510 and the second connector 520 are installed on the first connector 400 from far to near along the second direction. In this way, when the second connector 520 is assembled with the first connector 400, it only needs to pass through the through slot 120 along the Y-axis direction and be inserted into the first cavity 110, and then it can be installed with the first connector 400 in the first cavity 110, which is simple to operate.
结合上述实施例，如图6所示，一些实施例中，第一连接件400开设有插孔420，第二连接体520的部分插入插孔420。如此，通过第二连接体520的部分沿Y轴方向穿过通槽120后插入插孔420，实现第二连接体520与第一连接件400初步定位安装，便于后续利用紧固件600进行进一步紧固固定。In combination with the above embodiments, as shown in FIG6 , in some embodiments, the first connector 400 is provided with a plug hole 420, and a portion of the second connector 520 is inserted into the plug hole 420. In this way, the second connector 520 is initially positioned and installed with the first connector 400 by passing a portion of the second connector 520 through the through slot 120 along the Y-axis direction and then being inserted into the plug hole 420, so as to facilitate further fastening and fixing using the fastener 600 later.
如图3以及图6所示，另一些实施例中，第一连接件400开设有第一连接孔430，第一连接体510开设有第一通孔511，第二连接体520开设有第二通孔521，紧固件600一端与第一连接体510相抵，紧固件600的另一端依次穿过第一通孔511、第二通孔521并与第一连接孔430紧固配合。如此，利用紧固件600与第一连接孔430的紧固配合，便于将第一连接体510、第二连接体520同步固定于第一连接件400上，有利于减少紧固零件，减少紧固工序，提高持械臂机构13的装配效率。As shown in FIG3 and FIG6, in other embodiments, the first connecting member 400 is provided with a first connecting hole 430, the first connecting body 510 is provided with a first through hole 511, the second connecting body 520 is provided with a second through hole 521, one end of the fastener 600 is against the first connecting body 510, and the other end of the fastener 600 passes through the first through hole 511 and the second through hole 521 in sequence and is fastened with the first connecting hole 430. In this way, by using the fastening cooperation between the fastener 600 and the first connecting hole 430, it is convenient to synchronously fix the first connecting body 510 and the second connecting body 520 on the first connecting member 400, which is conducive to reducing fastening parts, reducing fastening processes, and improving the assembly efficiency of the arm mechanism 13.
需要说明的是，紧固件600的具体实现方式可以有多种，包括但不限于螺丝、铆钉、销钉等等。It should be noted that there may be many specific implementations of the fastener 600, including but not limited to screws, rivets, pins, etc.
进一步地，一些实施例中，第一连接孔430为内螺纹孔，紧固件600的另一端设有与内螺纹孔螺接配合的螺杆610。如此，利用螺纹紧固方式实现紧固件600与第一连接件400的固定连接，便于将第一连接体510、第二连接体520同步固定于第一连接件400上，组装方便，且易于拆卸维护。Furthermore, in some embodiments, the first connection hole 430 is an internal threaded hole, and the other end of the fastener 600 is provided with a screw 610 threadedly engaged with the internal threaded hole. In this way, the fastener 600 is fixedly connected to the first connection member 400 by means of threaded fastening, so that the first connection body 510 and the second connection body 520 are simultaneously fixed to the first connection member 400, which is convenient for assembly and easy to disassemble and maintain.
具体地，紧固件600包括螺栓、螺钉中的至少一种。Specifically, the fastener 600 includes at least one of a bolt and a screw.
一示例中，第一通孔511和第二通孔521为螺纹通孔。如此，紧固件的螺杆分别与第一通孔以及第二通孔螺接配合，将第一连接体以及第二连接体固定到紧固件上，然后将第二连接体插入通槽与第一连接件，使得紧固件的螺杆与内螺纹孔配合，进而将第一连接体以及第二连接体固定于第一连接件上。In one example, the first through hole 511 and the second through hole 521 are threaded through holes. In this way, the screw of the fastener is threadedly engaged with the first through hole and the second through hole respectively, and the first connector and the second connector are fixed to the fastener. The second connecting body is inserted into the through groove and the first connecting piece so that the screw rod of the fastener matches with the internal thread hole, thereby fixing the first connecting body and the second connecting body on the first connecting piece.
如图5所示，一些实施例中，沿第一方向，第一连接件400至少开设有两个第一连接孔430，至少两个第一连接孔430间距设置，第一通孔511的数目、第二连接体520的数目、紧固件600的数目分别与第一连接孔的数目相等且设置位置一一对应。如此，第一连接体510和第二连接体520与第一连接件400形成至少两个紧固点，有利于提高第一连接体510和第二连接体520与第一连接件400连接强度。As shown in FIG5 , in some embodiments, along the first direction, the first connector 400 is provided with at least two first connection holes 430, at least two first connection holes 430 are arranged at intervals, and the number of first through holes 511, the number of second connectors 520, and the number of fasteners 600 are respectively equal to the number of first connection holes and the arrangement positions correspond one to one. In this way, the first connector 510 and the second connector 520 form at least two fastening points with the first connector 400, which is conducive to improving the connection strength between the first connector 510 and the second connector 520 and the first connector 400.
一些实施例中，第二连接体520呈块状，并沿垂直于第一方向的第二方向穿过通槽120。如此，利用块状的第二连接体520沿臂主体100的厚度方向穿过通槽120，易于实现与臂主体100的无接触，进而不会干涉第一连接件400的运动。In some embodiments, the second connector 520 is block-shaped and passes through the through slot 120 along a second direction perpendicular to the first direction. In this way, the block-shaped second connector 520 passes through the through slot 120 along the thickness direction of the arm body 100, which is easy to achieve non-contact with the arm body 100, and thus will not interfere with the movement of the first connector 400.
结合上述实施例，如图5以及图6所示，一些实施例中，持械臂机构13包括两个第二连接体520，两个第二连接体520沿第三方向间隔设置，第三方向、第一方向和第二方向两两相互垂直，两个第二连接体520分别穿过两个通槽120连接于第一连接件400和第二连接件500。如此，两个第二连接体520以及两个通槽120沿第三方向间隔设置，便于形成避让空间，以方便第一连接体510利用该空间设置其他零件，例如编码器动部820等。此外，充分利用臂主体100的宽度方向的空间来设置两个第二连接体520来提高第一连接体510与第一连接件400的连接强度。In combination with the above embodiments, as shown in FIG. 5 and FIG. 6 , in some embodiments, the mechanical arm mechanism 13 includes two second connectors 520, the two second connectors 520 are arranged at intervals along the third direction, the third direction, the first direction and the second direction are mutually perpendicular, and the two second connectors 520 are respectively connected to the first connector 400 and the second connector 500 through the two through slots 120. In this way, the two second connectors 520 and the two through slots 120 are arranged at intervals along the third direction to form an avoidance space, so that the first connector 510 can use the space to set other parts, such as the encoder moving part 820, etc. In addition, the space in the width direction of the arm body 100 is fully utilized to set the two second connectors 520 to improve the connection strength between the first connector 510 and the first connector 400.
在一些实施例中，为了加强臂主体100的强度，尤其是臂主体100位于通槽120一侧的强度，第二连接件500可以仅包括一个第二连接体520，使得臂主体100仅开设一个通槽120，参照图10。In some embodiments, in order to strengthen the arm body 100 , especially the arm body 100 on one side of the through slot 120 , the second connecting member 500 may include only one second connecting body 520 , so that the arm body 100 has only one through slot 120 , refer to FIG. 10 .
一示例中，第一连接体510呈板状。便于与器械驱动器12进行连接、走线等。此外，通过第二连接体520以及四个紧固件600与第一连接件400进行连接，使得第一连接体510与第一连接件400连接可靠。In one example, the first connector 510 is plate-shaped, which is convenient for connection with the instrument driver 12 and wiring. In addition, the second connector 520 and four fasteners 600 are connected to the first connector 400, so that the first connector 510 is reliably connected to the first connector 400.
此外，第二连接体520呈块状时，包括第二连接体呈杆状或者第二连接体呈板状。In addition, when the second connector 520 is in a block shape, it includes the second connector being in a rod shape or the second connector being in a plate shape.
如图3以及图6所示，一示例中，第二连接体520呈板状，并沿第三方向设置有两块，且每块第二连接体在第一方向上设置有两个第二通孔。As shown in FIG. 3 and FIG. 6 , in one example, the second connector 520 is in a plate shape, and two second connectors are provided along the third direction, and each second connector is provided with two second through holes in the first direction.
在其他实施例中，第二连接体呈杆状，并设有四个，与四个紧固件一一对应。In other embodiments, the second connecting body is in the shape of a rod, and four of them are provided, corresponding one to one to the four fasteners.
对于臂主体100的结构，在本申请的实施例中，参照图3，臂主体100可以设置为一体式结构，在另一实施例中，参照图10，臂主体100也可以设置为分体式结构。Regarding the structure of the arm body 100 , in an embodiment of the present application, referring to FIG. 3 , the arm body 100 may be configured as an integrated structure. In another embodiment, referring to FIG. 10 , the arm body 100 may also be configured as a split structure.
在图10的实施例中，臂主体100包括第一臂主体件100A和第二臂主体件100B，第一臂主体件100A和第二臂主体件100B围合形成第一腔110，通槽120开设于所述第二臂主体。实施例中，第一臂主体件100A和第二臂主体件100B均沿第一方向X延伸，也即第一臂主体件100A和第二臂主体件100B均在第一方向X具有长度。且第一臂主体件100A在第一方向X的投影覆盖第二臂主体件100B在第一方向X的投影，第一臂主体件100A的长度可视为第一腔110的长度，第二臂主体件100B的长度可以小于或等于第一腔110的长度。换言之，第一臂主体件100A可以视为整个持械臂机构13的力支撑的主要部件，且第一臂主体件100A具有较大的敞开口，第二臂主体件100B作为扣盖，可以一定程度上封闭第一臂主体件的敞开口，使得第一臂主体件100A和第二臂主体件100B共同的围合形成第一腔110。在实施例中，在臂主体100的第一腔110内加工第一配合面，其分体式结构的第一臂主体件具有较大的敞开式结构，便于工具从敞开口插入。In the embodiment of FIG. 10 , the arm body 100 includes a first arm body member 100A and a second arm body member 100B, the first arm body member 100A and the second arm body member 100B enclose a first cavity 110, and a through groove 120 is provided in the second arm body. In the embodiment, the first arm main body 100A and the second arm main body 100B both extend along the first direction X, that is, the first arm main body 100A and the second arm main body 100B both have a length in the first direction X. And the projection of the first arm main body 100A in the first direction X covers the projection of the second arm main body 100B in the first direction X. The length of the first arm main body 100A can be regarded as the length of the first cavity 110, and the length of the second arm main body 100B can be less than or equal to the length of the first cavity 110. In other words, the first arm main body 100A can be regarded as the main component of the force support of the entire robotic arm mechanism 13, and the first arm main body 100A has a relatively large opening. The second arm main body 100B, as a buckle cover, can close the opening of the first arm main body to a certain extent, so that the first arm main body 100A and the second arm main body 100B together enclose the first cavity 110. In an embodiment, the first mating surface is processed in the first cavity 110 of the arm body 100, and the first arm body member of the split structure has a relatively large open structure, which facilitates the insertion of a tool from the open opening.
在上述任一实施例的基础上，回见图3以及图4所示，一些实施例中，持械臂机构13还包括有遮蔽件700，遮蔽件700遮盖通槽120和至少部分第二连接件500，遮蔽件700沿第一方向延伸，位于遮蔽件700并沿第一方向相对的两个端部分别与臂主体100固定连接。如此，利用遮蔽件700遮盖通槽120，可以避免或减少灰尘等固态杂物通过通槽120进入第一腔110内而污染丝杆300以及第一连接件400，降低丝杆300与第一连接件400使用寿命。而且遮蔽件700遮盖至少部分第二连接件500，也即遮蔽件700搭在第二连接件500，不会干涉第二连接件500的运动，易于被第二连接件500所顶开。On the basis of any of the above embodiments, referring back to FIG. 3 and FIG. 4, in some embodiments, the mechanical arm mechanism 13 further includes a shielding member 700, the shielding member 700 covers the through slot 120 and at least a portion of the second connecting member 500, the shielding member 700 extends along the first direction, and the two ends of the shielding member 700 that are located opposite to each other along the first direction are respectively fixedly connected to the arm body 100. In this way, by using the shielding member 700 to cover the through slot 120, it is possible to avoid or reduce solid debris such as dust from entering the first cavity 110 through the through slot 120 and contaminating the screw rod 300 and the first connecting member 400, thereby reducing the service life of the screw rod 300 and the first connecting member 400. Moreover, the shielding member 700 covers at least a portion of the second connecting member 500, that is, the shielding member 700 is placed on the second connecting member 500, does not interfere with the movement of the second connecting member 500, and is easily pushed open by the second connecting member 500.
进一步地，一些实施例中，第二连接件500在第一端和第二端之间移动时，遮蔽件700能够动态地遮盖通槽120。如此，在第二连接件500移动过程中，会引导其第二连接件500前进方向的遮蔽件700翘起，通槽120敞开，以方便第二连接件500移动。而位于第二连接件500的移动方向的反方向的部分通槽120，会因第二连接件500移开而使得通槽120处于敞开状态，在第二连接件500后方的遮蔽件700能够复位并自然的贴合至臂主体而及时封闭该部分通槽120。也即，在第二连接件500在第一端和第二端之间移动时，遮蔽件700能够在第二连接件500前进方向上及时打开通槽120，不会与第二连接件500形成干涉。而遮蔽件700能够在第二连接件500后方及时关闭通槽120，有效防止异物通过通槽120进入第一腔110，提高臂主体100的防护性能。Further, in some embodiments, when the second connecting member 500 moves between the first end and the second end, the shielding member 700 can dynamically cover the through slot 120. In this way, during the movement of the second connecting member 500, the shielding member 700 in the forward direction of the second connecting member 500 will be tilted up, and the through slot 120 will be opened to facilitate the movement of the second connecting member 500. The through slot 120 located in the opposite direction of the movement direction of the second connecting member 500 will be in an open state due to the removal of the second connecting member 500, and the shielding member 700 behind the second connecting member 500 can be reset and naturally attached to the arm body to close the part of the through slot 120 in time. That is, when the second connecting member 500 moves between the first end and the second end, the shielding member 700 can open the through slot 120 in the forward direction of the second connecting member 500 in time, and will not interfere with the second connecting member 500. The shielding member 700 can close the through slot 120 in time behind the second connecting member 500 , effectively preventing foreign matter from entering the first cavity 110 through the through slot 120 , thereby improving the protective performance of the arm body 100 .
进一步地，一些实施例中，遮蔽件700与臂主体100中的一者设有磁吸件(未示出)，遮蔽件700与臂主体100中的另一者设有与磁吸件磁吸固定的配合件(未示出)，磁吸件与配合件磁吸固定，使得遮蔽件700能够动态地遮盖通槽120。如此，在第二连接件500移动过程中，第二连接件500前进方向的遮蔽件700会被第二连接件500顶开而打开通槽120，以方便第二连接件500移动。而第二连接件500的移动方向的反方向的通槽120，因第二连接件500移开而使得通槽120处于敞开状态，此外，在第二连接件500后方的遮蔽件700能够通过磁吸件与配合件的磁吸复位而及时关闭该通槽120。Furthermore, in some embodiments, one of the shielding member 700 and the arm body 100 is provided with a magnetic member (not shown), and the other of the shielding member 700 and the arm body 100 is provided with a matching member (not shown) magnetically fixed to the magnetic member, and the magnetic member and the matching member are magnetically fixed, so that the shielding member 700 can dynamically cover the through slot 120. In this way, during the movement of the second connecting member 500, the shielding member 700 in the forward direction of the second connecting member 500 will be pushed open by the second connecting member 500 to open the through slot 120, so as to facilitate the movement of the second connecting member 500. The through slot 120 in the opposite direction of the movement direction of the second connecting member 500 is in an open state due to the removal of the second connecting member 500. In addition, during the movement of the second connecting member 500, the shielding member 700 in the forward direction of the second connecting member 500 will be pushed open by the second connecting member 500 to open the through slot 120, so as to facilitate the movement of the second connecting member 500. The rear shielding member 700 can close the through slot 120 in time through the magnetic resetting of the magnetic member and the matching member.
需要说明的是，磁吸件包括磁铁、磁条等磁吸结构。配合件包括磁铁、铁等被磁吸结构。回见图3以及图4所示，一些实施例中，遮蔽件700包括柔性遮蔽带，柔性遮蔽带的部分能够在避开第二连接件500后，复位至与臂主体100相贴合，以遮蔽通槽120。如此，利用柔性遮蔽带的柔韧性，使得其容易被第二连接件500顶开而打开通槽120。而柔性遮蔽带在第二连接件500后方关闭通槽120时，能够更好地与臂主体100相贴合，以防止异物通过通槽120进入第一腔110，提高臂主体100的防护性能。It should be noted that the magnetic attraction member includes magnetic attraction structures such as magnets and magnetic strips. The matching member includes magnetic attraction structures such as magnets and iron. Referring back to Figures 3 and 4, in some embodiments, the shielding member 700 includes a flexible shielding belt, and a portion of the flexible shielding belt can be reset to fit with the arm body 100 after avoiding the second connecting member 500 to shield the through slot 120. In this way, the flexibility of the flexible shielding belt makes it easy to be pushed open by the second connecting member 500 to open the through slot 120. When the flexible shielding belt closes the through slot 120 behind the second connecting member 500, it can better fit with the arm body 100 to prevent foreign matter from entering the first cavity 110 through the through slot 120, thereby improving the protective performance of the arm body 100.
可选地，一些实施例中，遮蔽件700设置为金属带、编织带、塑料带、弹性带或磁吸带。Optionally, in some embodiments, the shielding member 700 is configured as a metal belt, a woven belt, a plastic belt, an elastic belt or a magnetic belt.
在上述遮蔽件700的任一实施例中，回见图3至图6所示，一些实施例中，第二连接件500开设第一导槽512，第一导槽512沿第一方向延伸，遮蔽件700穿过第一导槽512。如此，通过遮蔽件700与第一导槽512导向配合，使得遮蔽件700与第二连接件500以及臂主体100的配合更加顺畅，遮蔽件700不易脱轨，遮蔽效果可靠性高。In any of the above-mentioned embodiments of the shielding member 700, referring back to FIGS. 3 to 6, in some embodiments, the second connecting member 500 is provided with a first guide groove 512, the first guide groove 512 extends along a first direction, and the shielding member 700 passes through the first guide groove 512. In this way, the shielding member 700 cooperates with the second connecting member 500 and the arm body 100 more smoothly through the guiding cooperation with the first guide groove 512, the shielding member 700 is not easy to derail, and the shielding effect is highly reliable.
可选地，如图5所示，一些实施例中，第二连接件500的部分沿第二方向穿过通槽120，第一导槽512的槽底表面在第一方向和第二方向形成的平面的投影呈弧形，第二方向与第一方向相互垂直。如此，便于能够实现遮蔽带与第二连接件500弧形导向配合，使得遮蔽件700动态遮蔽通槽120的过程更加顺畅。Optionally, as shown in FIG5 , in some embodiments, a portion of the second connecting member 500 passes through the through slot 120 along the second direction, and the projection of the plane formed by the bottom surface of the first guide slot 512 in the first direction and the second direction is arc-shaped, and the second direction is perpendicular to the first direction. In this way, it is convenient to achieve arc-shaped guiding cooperation between the shielding belt and the second connecting member 500, so that the process of the shielding member 700 dynamically shielding the through slot 120 is smoother.
可选地，如图5所示，一些实施例中，沿第一方向，自第一导槽512的端部至第一导槽512的中间部位第一导槽512的通槽120底深度逐渐增加，且第一导槽512的槽底表面自一个端部至另一个端部平滑过渡。如此，便于能够实现遮蔽带与第二连接件500平滑导向配合，使得遮蔽件700动态遮蔽通槽120的过程更加顺畅。Optionally, as shown in FIG5 , in some embodiments, along the first direction, the depth of the through groove 120 of the first guide groove 512 gradually increases from the end of the first guide groove 512 to the middle of the first guide groove 512, and the groove bottom surface of the first guide groove 512 smoothly transitions from one end to the other end. In this way, it is easy to achieve smooth guiding cooperation between the shielding belt and the second connecting member 500, so that the process of the shielding member 700 dynamically shielding the through groove 120 is smoother.
在上述任一实施例的基础上，如图3所示，一些实施例中，持械臂机构13还包括用于检测第二连接件500相对于臂主体100的位置状态的位置检测组件800。如此，通过位置检测组件800能够及时获得第二连接件500的位置状态而间接了解器械驱动器12在第一方向的位置信息，便于控制装置20控制驱动部件200来调整器械驱动器12的位置，以满足手术操作需要。On the basis of any of the above embodiments, as shown in FIG3 , in some embodiments, the arm mechanism 13 further includes a position detection component 800 for detecting the position state of the second connection member 500 relative to the arm body 100. In this way, the position state of the second connection member 500 can be obtained in time through the position detection component 800 to indirectly understand the position information of the instrument driver 12 in the first direction, so that the control device 20 controls the driving component 200 to adjust the position of the instrument driver 12 to meet the needs of the surgical operation.
需要说明的是，位置检测组件800的具体实现方式可以有多种，包括但不限于机器视觉检测组件、直线编码器等等。It should be noted that there are many specific implementation methods for the position detection component 800, including but not limited to a machine vision detection component, a linear encoder, and the like.
如图5以及图6所示，一些实施例中，位置检测组件800设置为直线编码器，直线编码器包括编码器定部810以及编码器动部820。编码器定部810相对于臂主体100固定设置。编码器动部820相对于第二连接件500固定设置。其中，编码器定部810检测编码器动部820的瞬时或持续的位置、速度或状态。如此，通过编码器动部820随第二连接件500进行运动，并与编码器定部810相配合，以确认第二连接件500的位置、速度或状态。As shown in FIG. 5 and FIG. 6 , in some embodiments, the position detection component 800 is configured as a linear encoder, and the linear encoder includes an encoder fixed portion 810 and an encoder movable portion 820. The encoder fixed portion 810 is fixedly disposed relative to the arm body 100. The encoder movable portion 820 is fixedly disposed relative to the second connecting member 500. The instantaneous or continuous position, speed or state of the encoder moving part 820. In this way, the encoder moving part 820 moves with the second connecting member 500 and cooperates with the encoder fixed part 810 to confirm the position, speed or state of the second connecting member 500.
一些实施例中，编码器定部810至少包括光栅尺，编码器动部820至少包括光敏元件。In some embodiments, the encoder fixed part 810 includes at least a grating scale, and the encoder moving part 820 includes at least a photosensitive element.
一些实施例中，编码器定部810至少包括磁栅尺，编码器动部820至少包括磁敏元件。In some embodiments, the encoder fixed part 810 includes at least a magnetic scale, and the encoder moving part 820 includes at least a magnetic sensitive element.
在一些实施例中，位置检测组件也可以采用拉线编码器。In some embodiments, the position detection component may also use a wire encoder.
一些实施例中，编码器定部810避开通槽120设置。如此，编码器定部810的设置不会干涉第二连接件500以及第一连接件400的运动。In some embodiments, the encoder fixed portion 810 is disposed away from the through slot 120 . In this way, the arrangement of the encoder fixed portion 810 will not interfere with the movement of the second connecting member 500 and the first connecting member 400 .
如图5所示，一些实施例中，第二连接件500的部分沿第二方向穿过通槽120，臂主体100开设有两个通槽120，两个通槽120沿第三方向间隔排布，编码器定部810位于两个通槽120之间并与臂主体100固定设置。如此，两个通槽120沿第三方向间隔排布，充分利用臂主体100的宽度方向形成避让空间，便于将编码器定部810设置于该避让空间，然后与臂主体100固定连接，进而不会干涉第二连接件500以及第一连接件400的运动。而编码器动部820的固定于第二连接件500。集成到第二连接件500上，使得持械臂机构13的结构更加紧凑，也便于利用第二连接件500进行走线。As shown in FIG5 , in some embodiments, part of the second connecting member 500 passes through the through slot 120 along the second direction, the arm body 100 is provided with two through slots 120, the two through slots 120 are arranged at intervals along the third direction, and the encoder fixed part 810 is located between the two through slots 120 and fixedly arranged with the arm body 100. In this way, the two through slots 120 are arranged at intervals along the third direction, making full use of the width direction of the arm body 100 to form an escape space, so that the encoder fixed part 810 is conveniently arranged in the escape space, and then fixedly connected with the arm body 100, so as not to interfere with the movement of the second connecting member 500 and the first connecting member 400. The encoder moving part 820 is fixed to the second connecting member 500. Being integrated into the second connecting member 500, the structure of the mechanical arm mechanism 13 is more compact, and it is also convenient to use the second connecting member 500 for routing.
在上述任一实施例的基础上，如图6所示，一些实施例中，第二配合面410在第二方向和第三方向形成的平面内的投影包括凸起，第一配合面130在第二方向和第三方向形成的平面内的投影包括凹陷。如此，利用凸起与凹陷的配合实现限制第一连接件400以丝杆300的旋转轴线为转轴旋转，易于制造，实施成本低。Based on any of the above embodiments, as shown in FIG6 , in some embodiments, the projection of the second mating surface 410 in the plane formed by the second direction and the third direction includes a protrusion, and the projection of the first mating surface 130 in the plane formed by the second direction and the third direction includes a depression. In this way, the first connecting member 400 is restricted from rotating about the rotation axis of the screw rod 300 by the cooperation of the protrusion and the depression, which is easy to manufacture and has low implementation cost.
同理，如图7所示，另一些实施例中，第二配合面410在第二方向和第三方向形成的平面内的投影包括凹陷，第一配合面130在第二方向和第三方向形成的平面内的投影包括凸起。如此，利用凸起与凹陷的配合实现限制第一连接件400以丝杆300的旋转轴线为转轴旋转，易于制造，实施成本低。Similarly, as shown in Fig. 7, in some other embodiments, the projection of the second mating surface 410 in the plane formed by the second direction and the third direction includes a depression, and the projection of the first mating surface 130 in the plane formed by the second direction and the third direction includes a protrusion. In this way, the first connecting member 400 is restricted from rotating about the rotation axis of the screw rod 300 by the cooperation of the protrusion and the depression, which is easy to manufacture and has low implementation cost.
在上述任一实施例的基础上，如图6或图7所示，一些实施例中，第一连接件400具有两个第二配合面410，两个第二配合面410沿第三方向对称设置，臂主体100对应设置有两个第一配合面130，两个第一配合面130与两个第二配合面410一一对应，并分别限位配合。如此，在臂主体100的宽度方向上，第一连接件400受力均匀。而且，通过两个第一配合面130与两个第二配合面410一一对应，并分别限位配合，更加可靠地限制第一连接件400以丝杆300的旋转轴线为转轴旋转，使得第一连接件400与臂主体100滑动连接的连接精度高，有利于降低丝杆300与第一方向平行度误差，提高器械驱动器12沿X轴方向移动精度。On the basis of any of the above embodiments, as shown in FIG. 6 or FIG. 7, in some embodiments, the first connecting member 400 has two second mating surfaces 410, and the two second mating surfaces 410 are symmetrically arranged along the third direction, and the arm body 100 is correspondingly provided with two first mating surfaces 130, and the two first mating surfaces 130 correspond one-to-one with the two second mating surfaces 410, and are respectively limited in position. In this way, the first connecting member 400 is subjected to uniform force in the width direction of the arm body 100. Moreover, by having the two first mating surfaces 130 correspond one-to-one with the two second mating surfaces 410, and are respectively limited in position, the first connecting member 400 is more reliably restricted from rotating with the rotation axis of the screw rod 300 as the rotating axis, so that the first connecting member 400 and the arm body 100 are symmetrically arranged. The sliding connection of the body 100 has high connection accuracy, which is beneficial to reducing the parallelism error between the screw rod 300 and the first direction and improving the movement accuracy of the instrument driver 12 along the X-axis direction.
如图6或图7所示，一些实施例中，第一配合面130与第二配合面410中的一者设有滑槽131，第一配合面130与第二配合面410中的另一者设有与滑槽131滑动配合的凸条411。如此，通过滑槽131与凸条411的配合，易于实现第一配合面130与第二配合面410的限位配合，使得第一连接件400沿臂主体100的长度方向相对于臂主体100滑动连接。As shown in FIG. 6 or FIG. 7 , in some embodiments, one of the first mating surface 130 and the second mating surface 410 is provided with a slide groove 131, and the other of the first mating surface 130 and the second mating surface 410 is provided with a convex strip 411 that slidably cooperates with the slide groove 131. In this way, through the cooperation between the slide groove 131 and the convex strip 411, it is easy to achieve the limited cooperation between the first mating surface 130 and the second mating surface 410, so that the first connecting member 400 is slidably connected relative to the arm body 100 along the length direction of the arm body 100.
一示例中，第一配合面130设有滑槽131，第二配合面410设有与滑槽131滑动配合的凸条411。In one example, the first mating surface 130 is provided with a sliding groove 131 , and the second mating surface 410 is provided with a protruding strip 411 that slidably cooperates with the sliding groove 131 .
如图6所示，一些实施例中，凸条411呈至少部分圆柱体。如此，滑槽131能够适配该圆柱体状的凸条411，以实现限制第一限位件以丝杆300的旋转轴线为转轴旋转。As shown in Fig. 6, in some embodiments, the convex strip 411 is at least partially cylindrical. In this way, the slide groove 131 can adapt to the cylindrical convex strip 411 to limit the first limit member to rotate around the rotation axis of the screw rod 300.
一示例中，第二配合面410设有滑槽131，第一配合面130设有与滑槽131滑动配合的凸条411。In one example, the second mating surface 410 is provided with a sliding groove 131 , and the first mating surface 130 is provided with a protruding strip 411 that slidably cooperates with the sliding groove 131 .
进一步地，如图7所示，一些实施例中，凸条411包括凸楞132以及固设于凸楞132的端部的防脱部133，滑槽131与防脱部133相适配，并与防脱部133滑动配合。如此，防脱部133与滑槽131配合更加紧密，使得第一连接件400与臂主体100滑动连接精度更高。Further, as shown in FIG7 , in some embodiments, the convex strip 411 includes a convex rib 132 and an anti-slip portion 133 fixed to the end of the convex rib 132, and the slide groove 131 is adapted to the anti-slip portion 133 and slidably cooperates with the anti-slip portion 133. In this way, the anti-slip portion 133 cooperates more closely with the slide groove 131, so that the sliding connection accuracy of the first connecting member 400 and the arm body 100 is higher.
可选地，一些实施例中，防脱部133在第二方向和第三方向形成的平面内的投影呈部分圆形，且部分圆形大于半圆。Optionally, in some embodiments, the projection of the anti-slip portion 133 in the plane formed by the second direction and the third direction is a partial circle, and the partial circle is larger than a semicircle.
在上述任一实施例的基础上，如图6或图7所示，一些实施例中，臂主体100包括型材结构140和导轨150，导轨150与型材结构140固定连接，第一配合面130位于导轨150。如此，利用型材结构140与导轨150相配合组装成臂主体100，有利于降低臂主体100制造难度以及成本。On the basis of any of the above embodiments, as shown in FIG6 or FIG7, in some embodiments, the arm body 100 includes a profile structure 140 and a guide rail 150, the guide rail 150 is fixedly connected to the profile structure 140, and the first mating surface 130 is located on the guide rail 150. In this way, the arm body 100 is assembled by matching the profile structure 140 with the guide rail 150, which is conducive to reducing the manufacturing difficulty and cost of the arm body 100.
由前述可知，持械臂机构13设置于机械手11的末端，为了便于交互以及减少线缆数量。持械臂机构13通常设有电路板组件1100，能够与驱动部件200、位置检测组件800以及器械驱动器12进行连接，便于与控制装置20等进行交互。As can be seen from the foregoing, the robotic arm mechanism 13 is disposed at the end of the manipulator 11, and in order to facilitate interaction and reduce the number of cables, the robotic arm mechanism 13 is usually provided with a circuit board assembly 1100, which can be connected with the driving component 200, the position detection assembly 800 and the instrument driver 12, so as to facilitate interaction with the control device 20 and the like.
结合图6，回见图3以及图4所示，一些实施例中，持械臂机构13还包括外壳900，外壳900与型材结构140固定连接，且外壳900与型材结构140之间具有第二腔910。便于进行组装，易于形成第二腔910。而电路板组件1100设置于第二腔910内的，电路板组件1100与驱动部件200电性连接。如此，利用第二腔910来防护电路板组件1100，避免电路板组件1100损坏而影响驱动部件200的使用，提高持械臂机构13的电气连接的可靠性。In conjunction with FIG6 , referring back to FIG3 and FIG4 , in some embodiments, the robotic arm mechanism 13 further includes a housing 900, the housing 900 is fixedly connected to the profile structure 140, and a second cavity 910 is provided between the housing 900 and the profile structure 140. This facilitates assembly and facilitates forming the second cavity 910. The circuit board assembly 1100 is disposed in the second cavity 910, and the circuit board assembly 1100 is electrically connected to the driving component 200. In this way, the second cavity 910 is used to protect the circuit board assembly 1100, to prevent damage to the circuit board assembly 1100 and affect the use of the driving component 200, thereby improving the electrical connection of the robotic arm mechanism 13. reliability.
在上述任一实施例的基础上，如图3以及图8所示，一些实施例中，驱动部件200包括相对于臂主体100固定设置的动力源210，动力源210与丝杆300传动连接，丝杆300的至少部分设置于第一腔110内，并与第一连接件400螺纹传动连接。如此，第一连接件400与丝杆300螺纹传动连接，并与臂主体100滑动连接。进而通过动力源210带动丝杆300旋转的过程中，会带动第一连接件400沿丝杆300的轴向进行往复运动，带动器械驱动器12沿臂主体100的长度方向往复运动。而螺纹传动连接具有自锁性，便于实现器械驱动器12随动随停。On the basis of any of the above embodiments, as shown in FIG3 and FIG8, in some embodiments, the driving component 200 includes a power source 210 fixedly arranged relative to the arm body 100, the power source 210 is connected to the screw rod 300 by transmission, at least part of the screw rod 300 is arranged in the first cavity 110, and is connected to the first connecting member 400 by threaded transmission. In this way, the first connecting member 400 is connected to the screw rod 300 by threaded transmission, and is slidably connected to the arm body 100. In the process of driving the screw rod 300 to rotate by the power source 210, the first connecting member 400 will be driven to reciprocate along the axial direction of the screw rod 300, and the instrument driver 12 will be driven to reciprocate along the length direction of the arm body 100. The threaded transmission connection has self-locking properties, which facilitates the follow-up and stop of the instrument driver 12.
结合前述实施例，动力源210通过防护壳与外壳900进行防护，具有良好的防护性能，同时又便于与电路板组件1100进行电性连接。具体地，驱动部件200与型材结构140固定，电路板组件1100固设于型材结构140，然后通过线缆实现驱动部件200与电路板组件1100的电连接。最后通过外壳900与防护壳以及型材结构140固定连接，将驱动部件200与臂主体100集成为一个整体，并具有良好的电气防护性能。In combination with the above-mentioned embodiments, the power source 210 is protected by the protective shell and the outer shell 900, has good protection performance, and is convenient for electrical connection with the circuit board assembly 1100. Specifically, the driving component 200 is fixed to the profile structure 140, the circuit board assembly 1100 is fixed to the profile structure 140, and then the driving component 200 and the circuit board assembly 1100 are electrically connected through a cable. Finally, the outer shell 900 is fixedly connected to the protective shell and the profile structure 140, so that the driving component 200 and the arm body 100 are integrated into a whole, and have good electrical protection performance.
如图8所示，一些实施例中，动力源210包括与丝杆300传动连接的输出轴211，持械臂机构13还包括第二检测组件1200，第二检测组件1200用于检测输出轴211的旋转角度。如此，通过第二检测组件1200检测输出轴211的旋转角度，以及时获知动力源210输出的动力情况，便于对动力源210进行控制。As shown in FIG8 , in some embodiments, the power source 210 includes an output shaft 211 that is transmission-connected to the screw rod 300, and the robotic arm mechanism 13 further includes a second detection component 1200, which is used to detect the rotation angle of the output shaft 211. In this way, the rotation angle of the output shaft 211 is detected by the second detection component 1200, so as to timely know the power output of the power source 210, so as to facilitate the control of the power source 210.
需要说明的是，第二检测组件1200的具体实现方式可以有多种，包括但不限于旋转编码器、角位移传感器等等。It should be noted that there may be many specific implementations of the second detection component 1200, including but not limited to a rotary encoder, an angular displacement sensor, and the like.
如图3、图4以及图8所示，一些实施例中，持械臂机构13还包括端部壳体1400，端部壳体1400固定于臂主体100的一端，端部壳体1400开设有驱动腔1410，驱动部件200的至少部分位于驱动腔1410内。便于通过端部壳体1400将驱动部件200的至少部分设置于臂主体100上，并利用驱动腔1410进行防护，以提高持械臂机构13防护性能。As shown in FIG3, FIG4 and FIG8, in some embodiments, the mechanical arm mechanism 13 further includes an end housing 1400, which is fixed to one end of the arm body 100, and the end housing 1400 is provided with a driving cavity 1410, and at least part of the driving component 200 is located in the driving cavity 1410. It is convenient to dispose at least part of the driving component 200 on the arm body 100 through the end housing 1400, and use the driving cavity 1410 for protection, so as to improve the protection performance of the mechanical arm mechanism 13.
可选地，一些实施例中，端部壳体1400沿第一方向自远及近地安装于臂主体100。便于提高装配效率。Optionally, in some embodiments, the end housing 1400 is installed on the arm body 100 from far to near along the first direction, so as to improve assembly efficiency.
具体地，驱动部件200的至少部分包括动力源210，动力源210可以安设于端部壳体1400上，然后通过端部壳体1400沿第一方向自远及近地安装于臂主体100，装配方便。Specifically, at least part of the driving component 200 includes a power source 210, which can be mounted on the end shell 1400 and then installed on the arm body 100 from far to near along the first direction through the end shell 1400, which is convenient for assembly.
结合前述的外壳900，一示例中，端部壳体1400与外壳900固定连接。既能够提高驱动部件200的防护性能，有能够提高驱动部件200与臂主体100的连接强度。In combination with the aforementioned housing 900 , in one example, the end housing 1400 is fixedly connected to the housing 900 , which can improve the protection performance of the driving component 200 and the connection strength between the driving component 200 and the arm body 100 .
由于需要对器械驱动器12进行供电以及控制，通常会在持械臂机构13上设置有与器械驱动器12进行电连接的线缆。而器械驱动器12会沿臂主体100的长度方向进行运动，这也使得线缆的至少部分能够随器械驱动器12进行运动，以保证电连接的可靠性。在上述任一实施例的基础上，如图6及图9所示，一些实施例中，第一腔110包括传动区111和走线区112，丝杆300位于传动区111，第一连接件400在传动区111移动，走线区112用于设置线缆，移动区和走线区112沿第二方向排布，第二方向与第一方向相互垂直。如此，通过设置走线区112和传动区111使得臂主体100的内部更加规整，减少第一连接件400和丝杆300与线缆发生干涉。其中，走线区112较传动区111更靠近通槽120。如此，该走线区112内的线缆能够远离第一连接件400设置，以尽可能地减少对第一连接件400以及丝杆300的干扰。Since the instrument driver 12 needs to be powered and controlled, a The instrument driver 12 is electrically connected to the cable. The instrument driver 12 will move along the length direction of the arm body 100, which also enables at least part of the cable to move with the instrument driver 12 to ensure the reliability of the electrical connection. On the basis of any of the above embodiments, as shown in Figures 6 and 9, in some embodiments, the first cavity 110 includes a transmission area 111 and a routing area 112, the screw rod 300 is located in the transmission area 111, the first connecting member 400 moves in the transmission area 111, the routing area 112 is used to set the cable, and the moving area and the routing area 112 are arranged along the second direction, and the second direction is perpendicular to the first direction. In this way, by setting the routing area 112 and the transmission area 111, the interior of the arm body 100 is more regular, and the interference between the first connecting member 400 and the screw rod 300 and the cable is reduced. Among them, the routing area 112 is closer to the through groove 120 than the transmission area 111. In this way, the cables in the wiring area 112 can be arranged away from the first connecting member 400 to minimize interference with the first connecting member 400 and the lead screw 300 .
如图9所示，一些实施例中，持械臂机构13还包括走线带1500，走线带1500的一端固定连接于第二连接件500，另一端固定连接于臂主体100。如此，走线带1500随第二连接件500进行运动，且走线带1500的活动部分被限制于走线区112内。而朝向走线区112且位于臂主体100开设有两个第二导槽101，第二导槽101的槽底表面平行且相向。走线带1500的至少部分与两个第二导槽101中的一者动态导向配合，走线带1500的至少部分于与两个第二导槽101中的另一者动态导向配合。如此，利用走线带1500与第二导槽101导向配合，便于引导走线带1500沿第二导槽101的长度方向进行运动。便于将线缆可动部分设置于走线带1500，进而避免线缆对丝杆300的影响。As shown in FIG9 , in some embodiments, the arm mechanism 13 further includes a routing belt 1500, one end of which is fixedly connected to the second connecting member 500, and the other end of which is fixedly connected to the arm body 100. In this way, the routing belt 1500 moves with the second connecting member 500, and the movable part of the routing belt 1500 is limited to the routing area 112. Two second guide grooves 101 are provided facing the routing area 112 and located in the arm body 100, and the groove bottom surfaces of the second guide grooves 101 are parallel and facing each other. At least part of the routing belt 1500 is dynamically guided and matched with one of the two second guide grooves 101, and at least part of the routing belt 1500 is dynamically guided and matched with the other of the two second guide grooves 101. In this way, the routing belt 1500 is guided and matched with the second guide groove 101, so as to facilitate the routing belt 1500 to move along the length direction of the second guide groove 101. It is convenient to arrange the movable part of the cable on the wiring belt 1500, thereby avoiding the influence of the cable on the lead screw 300.
需要说明的是，走线带1500的具体实现方式可以有多种，包括但不限于拖链、金属带等，能够安装线缆，并带动线缆沿设定轨迹进行运动即可。可选地，线缆贴设于走线带1500的外表面。或者线缆夹设于走线带1500的内。It should be noted that the specific implementation of the routing belt 1500 can be various, including but not limited to a drag chain, a metal belt, etc., which can install cables and drive the cables to move along a set track. Optionally, the cables are attached to the outer surface of the routing belt 1500. Or the cable clamp is arranged inside the routing belt 1500.
一些实施例中，走线带1500的另一端与臂主体100连接，并靠近另一个第二导槽101设置，以使走线带1500的部分形成弹性弯折体1510，弹性弯折体1510分别与两个第二导槽101的底壁相抵。如此，通过弹性弯折体1510使得走线带1500通过自身的弹力卡在第二导槽101上，使得走线带1500能够沿第二导槽101的延伸方向进行运动，不会脱离第二导槽101，进而有效避免走线带1500以及线缆刮伤丝杆300，而降低丝杆300的传动可靠性。In some embodiments, the other end of the routing belt 1500 is connected to the arm body 100 and is disposed close to another second guide groove 101, so that a portion of the routing belt 1500 forms an elastic bent body 1510, and the elastic bent body 1510 respectively abuts against the bottom walls of the two second guide grooves 101. In this way, the routing belt 1500 is stuck on the second guide groove 101 by its own elastic force through the elastic bent body 1510, so that the routing belt 1500 can move along the extension direction of the second guide groove 101 and will not be separated from the second guide groove 101, thereby effectively preventing the routing belt 1500 and the cable from scratching the lead screw 300, thereby reducing the transmission reliability of the lead screw 300.
如图9所示，一些实施例中，走线带1500的可动长度大于第二连接件500总行程的一半。如此，该走线带1500不会干涉第二连接件500的运动，而缩短第二连接件500的行程。As shown in FIG9 , in some embodiments, the movable length of the routing belt 1500 is greater than half of the total stroke of the second connecting member 500. In this way, the routing belt 1500 will not interfere with the movement of the second connecting member 500 and shorten the stroke of the second connecting member 500.
如图9所示，走线带1500的可动长度为L1，第二连接件500的总行程为L2，0.5L2≤L1。As shown in FIG. 9 , the movable length of the routing belt 1500 is L1, the total stroke of the second connecting member 500 is L2, and 0.5L2≤L1.
需要说明的是，走线带的可动长度为走线带在走线区内可以活动的长度，不包括走线带被固定的部分的长度。It should be noted that the movable length of the routing belt is the length that the routing belt can move within the routing area, excluding the length of the routing belt. The length of the portion of the cord to which it is secured.
以上对本申请实施例提供的持械臂机构、多轴运动装置及手术机器人进行了详细地介绍，本文中应用了具体个例对本申请的原理及实施例进行了阐述，以上实施例的说明只是用于帮助理解本申请的思想，在具体实施例及应用范围上均会有改变之处，综上所述，本说明书的内容不应理解为对本申请的限制。The above is a detailed introduction to the arm mechanism, multi-axis motion device and surgical robot provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and embodiments of the present application. The description of the above embodiments is only used to help understand the ideas of the present application. There may be changes in the specific embodiments and application scope. In summary, the contents of this specification should not be understood as a limitation on the present application.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311306760.0ACN119791851A (en) | 2023-10-09 | 2023-10-09 | Robotic arm mechanism, multi-axis motion device and surgical robot |
| CN202311306760.0 | 2023-10-09 |
| Publication Number | Publication Date |
|---|---|
| WO2025077653A1true WO2025077653A1 (en) | 2025-04-17 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2024/122904PendingWO2025077653A1 (en) | 2023-10-09 | 2024-09-30 | Instrument-holding arm mechanism, multi-axis movement device, and surgical robot |
| Country | Link |
|---|---|
| CN (1) | CN119791851A (en) |
| WO (1) | WO2025077653A1 (en) |
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